walkspeed.h.svn-base

AVR单片机下

/*                ****ROBOCON 2009 | BUPT TEAM*******
 * ------------------------------------------------------------------------
 * FileName   : walkspeed.h
 * Version    : 1.0
 * Brief      :
 * Code by    : leaf
 * Date       : Mar 31, 2009
 * Note       :
 *
 *
 * ------------------------------------------------------------------------
 */
#ifndef WALKSPEED_H_INCLUDED
#define WALKSPEED_H_INCLUDED

#include "lib_bupt/includes.h"
#include "lib_bupt/promotion.h"
inline void walkInit(PromPort pl, PromPort pr, PromId leftId, PromId rightId);
inline SpeedPair getCurSpeed(void);
inline void      setCurSpeed(const SpeedPair *p);
inline void      setLeftSpeed(SPEED_T speed);
inline void      setRightSpeed(SPEED_T speed);
inline void      setSameSpeed(SPEED_T speed);
inline void      setRightRev( Bool rev );
inline void      setLefttRev( Bool rev );

inline void      moveLeft(DIST_T dist);
inline void      moveRight(DIST_T dist);
inline void      moveSame(DIST_T dist);
inline void      holdPosition(void);
inline Promotion* getPromLeft(void);
inline Promotion* getPromRight(void);

#ifdef COMP_SPEED_H
#define speedl(s) setLeftSpeed(s)
#define speedr(s) setRightSpeed(s)
#define speed(s)  setSameSpeed(s)
#define movel(dist) moveLeft(dist)
#define mover(dist) moveRight(dist)
#define move(dist)  moveSame(dist)
#endif
#endif  /* WALKSPEED_H_INCLUDED */